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38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants; | |
33141cdd KZ |
4 | import org.usfirst.frc.team3501.robot.MathLib; |
5 | import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive; | |
7670b3f4 KZ |
6 | import org.usfirst.frc.team3501.robot.sensors.GyroLib; |
7 | import org.usfirst.frc.team3501.robot.sensors.Lidar; | |
111dc444 | 8 | |
38a404b3 | 9 | import edu.wpi.first.wpilibj.CANTalon; |
ee82dd56 | 10 | import edu.wpi.first.wpilibj.Compressor; |
111dc444 | 11 | import edu.wpi.first.wpilibj.CounterBase.EncodingType; |
d9c04720 | 12 | import edu.wpi.first.wpilibj.DoubleSolenoid; |
2aea5cc2 | 13 | import edu.wpi.first.wpilibj.DoubleSolenoid.Value; |
111dc444 | 14 | import edu.wpi.first.wpilibj.Encoder; |
b54ad73b | 15 | import edu.wpi.first.wpilibj.I2C; |
33141cdd KZ |
16 | import edu.wpi.first.wpilibj.RobotDrive; |
17 | import edu.wpi.first.wpilibj.command.PIDSubsystem; | |
18 | ||
19 | public class DriveTrain extends PIDSubsystem { | |
7a4df3c5 | 20 | // Current Drive Mode Default Drive Mode is Manual |
33141cdd | 21 | private int DRIVE_MODE = 1; |
fb75626b | 22 | private static double pidOutput = 0; |
38a404b3 | 23 | |
1884c3cf | 24 | private Encoder leftEncoder, rightEncoder; |
96215d97 | 25 | |
7e360ef5 | 26 | public static Lidar lidar; |
96215d97 | 27 | |
d7bf2340 | 28 | private CANTalon frontLeft, frontRight, rearLeft, rearRight; |
33141cdd KZ |
29 | private RobotDrive robotDrive; |
30 | ||
31 | private GyroLib gyro; | |
d9c04720 | 32 | private DoubleSolenoid leftGearPiston, rightGearPiston; |
ee82dd56 | 33 | private Compressor compressor; |
fb75626b | 34 | |
9e65c056 ME |
35 | // Drivetrain specific constants that relate to the inches per pulse value for |
36 | // the encoders | |
71d73690 | 37 | |
d7bf2340 | 38 | public DriveTrain() { |
fb75626b KZ |
39 | super(Constants.DriveTrain.kp, Constants.DriveTrain.ki, |
40 | Constants.DriveTrain.kd); | |
33141cdd | 41 | |
d7bf2340 KZ |
42 | frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT); |
43 | frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT); | |
44 | rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT); | |
45 | rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT); | |
1884c3cf | 46 | |
33141cdd | 47 | robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight); |
96215d97 | 48 | |
8bc0fed2 | 49 | lidar = new Lidar(I2C.Port.kMXP); |
d7bf2340 KZ |
50 | leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A, |
51 | Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X); | |
52 | rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A, | |
53 | Constants.DriveTrain.ENCODER_RIGHT_B, false, EncodingType.k4X); | |
45bdf5b9 KZ |
54 | leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); |
55 | rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); | |
33141cdd KZ |
56 | |
57 | leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); | |
58 | rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE); | |
59 | ||
60 | gyro = new GyroLib(I2C.Port.kOnboard, false); | |
61 | ||
62 | DRIVE_MODE = Constants.DriveTrain.ENCODER_MODE; | |
63 | setEncoderPID(); | |
64 | this.disable(); | |
65 | gyro.start(); | |
d004deee | 66 | |
ee82dd56 HD |
67 | leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_B_ID, |
68 | Constants.DriveTrain.LEFT_FORWARD, Constants.DriveTrain.LEFT_REVERSE); | |
69 | rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_B_ID, | |
70 | Constants.DriveTrain.RIGHT_FORWARD, Constants.DriveTrain.RIGHT_REVERSE); | |
71 | ||
72 | compressor = new Compressor(Constants.DriveTrain.COMPRESSOR_ID); | |
73 | ||
96215d97 | 74 | Constants.DriveTrain.inverted = false; |
d7bf2340 KZ |
75 | } |
76 | ||
77 | @Override | |
78 | protected void initDefaultCommand() { | |
33141cdd KZ |
79 | setDefaultCommand(new JoystickDrive()); |
80 | } | |
81 | ||
7a4df3c5 | 82 | // Print tne PID Output |
33141cdd KZ |
83 | public void printOutput() { |
84 | System.out.println("PIDOutput: " + pidOutput); | |
85 | } | |
86 | ||
87 | private double getAvgEncoderDistance() { | |
88 | return (leftEncoder.getDistance() + rightEncoder.getDistance()) / 2; | |
89 | } | |
90 | ||
7a4df3c5 KZ |
91 | // Whether or not the PID Controller thinks we have reached the target |
92 | // setpoint | |
33141cdd KZ |
93 | public boolean reachedTarget() { |
94 | if (this.onTarget()) { | |
95 | this.disable(); | |
96 | return true; | |
97 | } else { | |
98 | return false; | |
99 | } | |
100 | } | |
101 | ||
102 | public void stop() { | |
103 | drive(0, 0); | |
d7bf2340 KZ |
104 | } |
105 | ||
106 | public void resetEncoders() { | |
107 | leftEncoder.reset(); | |
108 | rightEncoder.reset(); | |
109 | } | |
110 | ||
7e360ef5 LM |
111 | public double getLidarDistance() { |
112 | return lidar.pidGet(); | |
96215d97 ME |
113 | } |
114 | ||
d7bf2340 | 115 | public double getRightSpeed() { |
6833a887 | 116 | return rightEncoder.getRate(); // in inches per second |
d7bf2340 KZ |
117 | } |
118 | ||
119 | public double getLeftSpeed() { | |
6833a887 | 120 | return leftEncoder.getRate(); // in inches per second |
d7bf2340 KZ |
121 | } |
122 | ||
123 | public double getSpeed() { | |
6833a887 | 124 | return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second |
d7bf2340 KZ |
125 | } |
126 | ||
d7bf2340 | 127 | public double getRightDistance() { |
6833a887 | 128 | return rightEncoder.getDistance(); // in inches |
d7bf2340 KZ |
129 | } |
130 | ||
d7bf2340 | 131 | public double getLeftDistance() { |
6833a887 | 132 | return leftEncoder.getDistance(); // in inches |
d7bf2340 KZ |
133 | } |
134 | ||
7a4df3c5 KZ |
135 | // Get error between the setpoint of PID Controller and the current state of |
136 | // the robot | |
33141cdd KZ |
137 | public double getError() { |
138 | if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE) | |
139 | return Math.abs(this.getSetpoint() - getAvgEncoderDistance()); | |
140 | else | |
141 | return Math.abs(this.getSetpoint() + getGyroAngle()); | |
d7bf2340 KZ |
142 | } |
143 | ||
33141cdd KZ |
144 | public double getGyroAngle() { |
145 | return gyro.getRotationZ().getAngle(); | |
146 | } | |
147 | ||
148 | public void resetGyro() { | |
149 | gyro.reset(); | |
150 | } | |
151 | ||
152 | public void printEncoder(int i, int n) { | |
153 | if (i % n == 0) { | |
154 | System.out.println("Left: " + this.getLeftDistance()); | |
155 | System.out.println("Right: " + this.getRightDistance()); | |
156 | ||
157 | } | |
158 | } | |
159 | ||
160 | public void printGyroOutput() { | |
161 | System.out.println("Gyro Angle" + -this.getGyroAngle()); | |
162 | } | |
163 | ||
7a4df3c5 KZ |
164 | /* |
165 | * returns the PID output that is returned by the PID Controller | |
166 | */ | |
33141cdd KZ |
167 | public double getOutput() { |
168 | return pidOutput; | |
169 | } | |
170 | ||
7a4df3c5 | 171 | // Updates the PID constants based on which control mode is being used |
33141cdd KZ |
172 | public void updatePID() { |
173 | if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE) | |
fb75626b KZ |
174 | this.getPIDController().setPID(Constants.DriveTrain.kp, |
175 | Constants.DriveTrain.ki, Constants.DriveTrain.kd); | |
33141cdd | 176 | else |
fb75626b KZ |
177 | this.getPIDController().setPID(Constants.DriveTrain.gp, |
178 | Constants.DriveTrain.gd, Constants.DriveTrain.gi); | |
33141cdd KZ |
179 | } |
180 | ||
181 | public CANTalon getFrontLeft() { | |
182 | return frontLeft; | |
183 | } | |
184 | ||
185 | public CANTalon getFrontRight() { | |
186 | return frontRight; | |
187 | } | |
188 | ||
189 | public CANTalon getRearLeft() { | |
190 | return rearLeft; | |
191 | } | |
192 | ||
193 | public CANTalon getRearRight() { | |
194 | return rearRight; | |
195 | } | |
196 | ||
197 | public int getMode() { | |
198 | return DRIVE_MODE; | |
199 | } | |
200 | ||
7a4df3c5 KZ |
201 | /* |
202 | * Method is a required method that the PID Subsystem uses to return the | |
203 | * calculated PID value to the driver | |
ee82dd56 | 204 | * |
7a4df3c5 KZ |
205 | * @param Gives the user the output from the PID algorithm that is calculated |
206 | * internally | |
ee82dd56 | 207 | * |
7a4df3c5 KZ |
208 | * Body: Uses the output, does some filtering and drives the robot |
209 | */ | |
33141cdd KZ |
210 | @Override |
211 | protected void usePIDOutput(double output) { | |
212 | double left = 0; | |
213 | double right = 0; | |
214 | if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE) { | |
215 | double drift = this.getLeftDistance() - this.getRightDistance(); | |
216 | if (Math.abs(output) > 0 && Math.abs(output) < 0.3) | |
217 | output = Math.signum(output) * 0.3; | |
218 | left = output; | |
fb75626b | 219 | right = output + drift * Constants.DriveTrain.kp / 10; |
96215d97 | 220 | } else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE) { |
33141cdd KZ |
221 | left = output; |
222 | right = -output; | |
223 | } | |
ee82dd56 | 224 | drive(left, right); |
33141cdd | 225 | pidOutput = output; |
d7bf2340 KZ |
226 | } |
227 | ||
33141cdd KZ |
228 | @Override |
229 | protected double returnPIDInput() { | |
230 | return sensorFeedback(); | |
d7bf2340 | 231 | } |
33141cdd | 232 | |
7a4df3c5 | 233 | /* |
c688e9da | 234 | * Checks the drive mode |
ee82dd56 | 235 | * |
7e360ef5 LM |
236 | * @return the current state of the robot in each state Average distance from |
237 | * both sides of tank drive for Encoder Mode Angle from the gyro in GYRO_MODE | |
7a4df3c5 | 238 | */ |
33141cdd KZ |
239 | private double sensorFeedback() { |
240 | if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE) | |
241 | return getAvgEncoderDistance(); | |
242 | else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE) | |
243 | return -this.getGyroAngle(); | |
244 | // counterclockwise is positive on joystick but we want it to be negative | |
245 | else | |
246 | return 0; | |
247 | } | |
248 | ||
7a4df3c5 KZ |
249 | /* |
250 | * @param left and right setpoints to set to the left and right side of tank | |
251 | * inverted is for Logan, wants the robot to invert all controls left = right | |
7e360ef5 LM |
252 | * and right = left negative input is required for the regular rotation |
253 | * because RobotDrive tankdrive method drives inverted | |
7a4df3c5 | 254 | */ |
33141cdd | 255 | public void drive(double left, double right) { |
13eda685 | 256 | // robotDrive.tankDrive(-left, -right); |
33141cdd | 257 | // dunno why but inverted drive (- values is forward) |
96215d97 | 258 | if (!Constants.DriveTrain.inverted) |
7e360ef5 | 259 | robotDrive.tankDrive(-left, -right); |
96215d97 ME |
260 | else |
261 | robotDrive.tankDrive(right, left); | |
33141cdd KZ |
262 | } |
263 | ||
6c72e0a8 KZ |
264 | public void arcadeDrive(double y, double twist) { |
265 | robotDrive.arcadeDrive(y, twist); | |
266 | } | |
267 | ||
7a4df3c5 KZ |
268 | /* |
269 | * constrains the distance to within -100 and 100 since we aren't going to | |
270 | * drive more than 100 inches | |
ee82dd56 | 271 | * |
7a4df3c5 | 272 | * Configure Encoder PID |
ee82dd56 | 273 | * |
7a4df3c5 KZ |
274 | * Sets the setpoint to the PID subsystem |
275 | */ | |
33141cdd KZ |
276 | public void driveDistance(double dist, double maxTimeOut) { |
277 | dist = MathLib.constrain(dist, -100, 100); | |
278 | setEncoderPID(); | |
279 | setSetpoint(dist); | |
280 | } | |
281 | ||
7a4df3c5 | 282 | /* |
7e360ef5 LM |
283 | * Sets the encoder mode Updates the PID constants sets the tolerance and sets |
284 | * output/input ranges Enables the PID controllers | |
7a4df3c5 | 285 | */ |
33141cdd KZ |
286 | public void setEncoderPID() { |
287 | DRIVE_MODE = Constants.DriveTrain.ENCODER_MODE; | |
288 | this.updatePID(); | |
fb75626b | 289 | this.setAbsoluteTolerance(Constants.DriveTrain.encoderTolerance); |
33141cdd KZ |
290 | this.setOutputRange(-1.0, 1.0); |
291 | this.setInputRange(-200.0, 200.0); | |
292 | this.enable(); | |
293 | } | |
294 | ||
7a4df3c5 | 295 | /* |
7e360ef5 LM |
296 | * Sets the Gyro Mode Updates the PID constants, sets the tolerance and sets |
297 | * output/input ranges Enables the PID controllers | |
7a4df3c5 | 298 | */ |
33141cdd KZ |
299 | private void setGyroPID() { |
300 | DRIVE_MODE = Constants.DriveTrain.GYRO_MODE; | |
301 | this.updatePID(); | |
fb75626b KZ |
302 | this.getPIDController().setPID(Constants.DriveTrain.gp, |
303 | Constants.DriveTrain.gi, Constants.DriveTrain.gd); | |
33141cdd | 304 | |
fb75626b | 305 | this.setAbsoluteTolerance(Constants.DriveTrain.gyroTolerance); |
33141cdd KZ |
306 | this.setOutputRange(-1.0, 1.0); |
307 | this.setInputRange(-360.0, 360.0); | |
308 | this.enable(); | |
309 | } | |
310 | ||
7a4df3c5 KZ |
311 | /* |
312 | * Turning method that should be used repeatedly in a command | |
ee82dd56 | 313 | * |
7a4df3c5 KZ |
314 | * First constrains the angle to within -360 and 360 since that is as much as |
315 | * we need to turn | |
ee82dd56 | 316 | * |
7a4df3c5 KZ |
317 | * Configures Gyro PID and sets the setpoint as an angle |
318 | */ | |
33141cdd KZ |
319 | public void turnAngle(double angle) { |
320 | angle = MathLib.constrain(angle, -360, 360); | |
321 | setGyroPID(); | |
322 | setSetpoint(angle); | |
323 | } | |
324 | ||
325 | public void setMotorSpeeds(double left, double right) { | |
326 | // positive setpoint to left side makes it go backwards | |
327 | // positive setpoint to right side makes it go forwards. | |
328 | frontLeft.set(-left); | |
329 | rearLeft.set(-left); | |
330 | frontRight.set(right); | |
331 | rearRight.set(right); | |
332 | } | |
333 | ||
7a4df3c5 | 334 | /* |
7e360ef5 LM |
335 | * @return a value that is the current setpoint for the piston kReverse or |
336 | * kForward | |
7a4df3c5 | 337 | */ |
2a099bc6 KZ |
338 | public Value getLeftGearPistonValue() { |
339 | return leftGearPiston.get(); | |
340 | } | |
341 | ||
7a4df3c5 | 342 | /* |
7e360ef5 LM |
343 | * @return a value that is the current setpoint for the piston kReverse or |
344 | * kForward | |
7a4df3c5 | 345 | */ |
2a099bc6 KZ |
346 | public Value getRightGearPistonValue() { |
347 | return rightGearPiston.get(); | |
348 | } | |
349 | ||
7a4df3c5 KZ |
350 | /* |
351 | * Changes the ball shift gear assembly to high | |
352 | */ | |
2a099bc6 KZ |
353 | public void setHighGear() { |
354 | changeGear(Constants.DriveTrain.HIGH_GEAR); | |
355 | } | |
356 | ||
7a4df3c5 KZ |
357 | /* |
358 | * Changes the ball shift gear assembly to low | |
359 | */ | |
2a099bc6 KZ |
360 | public void setLowGear() { |
361 | changeGear(Constants.DriveTrain.LOW_GEAR); | |
362 | } | |
363 | ||
7a4df3c5 KZ |
364 | /* |
365 | * changes the gear to a DoubleSolenoid.Value | |
366 | */ | |
2a099bc6 KZ |
367 | public void changeGear(DoubleSolenoid.Value gear) { |
368 | leftGearPiston.set(gear); | |
369 | rightGearPiston.set(gear); | |
370 | } | |
600a1a1c | 371 | |
ee82dd56 HD |
372 | public void startCompressor() { |
373 | compressor.start(); | |
374 | } | |
375 | ||
376 | public void stopCompressor() { | |
377 | compressor.stop(); | |
378 | } | |
379 | ||
380 | public void toggleCompressor() { | |
381 | if (compressor.enabled()) | |
382 | compressor.stop(); | |
383 | else | |
384 | compressor.start(); | |
385 | } | |
386 | ||
38a404b3 | 387 | } |